imds = imageDatastore(fullfile(toolboxdir('vision'),'visiondata','calibration','gopro'));

[imagePoints,boardSize,imagesUsed] = detectCheckerboardPoints(imds.Files(1:4),'HighDistortion',true);

for i = 1:4
  % Read image
  I = readimage(imds, i);

  % Insert markers at detected point locations
  I = insertMarker(I, imagePoints(:,:,i), 'o', 'Color', 'red', 'Size', 10);

  % Display image
  subplot(2, 2, i);
  imshow(I);
end

imageFileName = fullfile(toolboxdir('vision'),'visiondata','calibration','webcam','image4.tif');
I = imread(imageFileName);

[imagePoints,boardSize] = detectCheckerboardPoints(I);

J = insertText(I,imagePoints,1:size(imagePoints,1));
J = insertMarker(J,imagePoints,'o','Color','red','Size',5);
imshow(J);
title(sprintf('Detected a %d x %d Checkerboard',boardSize));

for i = 1:5
  imageFileName = sprintf('image%d.tif', i);
  imageFileNames{i} = fullfile(matlabroot,'toolbox','vision',...
       'visiondata','calibration','webcam',imageFileName);
end

[imagePoints,boardSize,imagesUsed] = detectCheckerboardPoints(imageFileNames, 'PartialDetections', false);

imageFileNames = imageFileNames(imagesUsed);
for i = 1:numel(imageFileNames)
  I = imread(imageFileNames{i});
  subplot(2, 2, i);
  imshow(I);
  hold on;
  plot(imagePoints(:,1,i),imagePoints(:,2,i),'ro');
end

numImages = 4;
images1 = cell(1, numImages);
images2 = cell(1, numImages);
for i = 1:numImages
    images1{i} = fullfile(matlabroot,'toolbox','vision',...
        'visiondata','calibration','stereo','left',sprintf('left%02d.png',i));
    images2{i} = fullfile(matlabroot,'toolbox','vision',...
        'visiondata','calibration','stereo','right',sprintf('right%02d.png',i));
end

[imagePoints,boardSize,pairsUsed] = ...
    detectCheckerboardPoints(images1,images2);

images1 = images1(pairsUsed);
figure;
for i = 1:numel(images1)
      I = imread(images1{i});
      subplot(2,2,i);
      imshow(I); 
      hold on; 
      plot(imagePoints(:,1,i,1),imagePoints(:,2,i,1),'ro');
end 
annotation('textbox',[0 0.9 1 0.1],'String','Camera 1',...
    'EdgeColor','none','HorizontalAlignment','center')

images2 = images2(pairsUsed);
figure;
for i = 1:numel(images2)
      I = imread(images2{i});
      subplot(2, 2, i);
      imshow(I);
      hold on; 
      plot(imagePoints(:,1,i,2),imagePoints(:,2,i,2),'ro');
end 
annotation('textbox',[0 0.9 1 0.1],'String','Camera 2',...
    'EdgeColor','none','HorizontalAlignment','center')